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Simple answer: You can buy a video component that has a scaling feature, but don't expect these to run cheap.

That failing you can buy a TV with a good internal scaling device but it may cause lag in gaming which may prove detrimental to time sensitive games.
The external scaling components tend to be much better than the ones on your HDTV. With newer end systems like N64 a very good scaler might save it with old stuff like NES It'll help but it might still look pixelated or stretched. A -good- external scaler also tends to run in the neighborhood of 2,000 US dollars.